If you can, mount a MG tean or two on a vehicle. Clear a path with infantry and then bring the MGs forward on the vehicle. They can provide suppressing fire first, then mount, if you feel the need. Best to ue them on the flanks, if possible, although a couple of MGs and a platoon of good infantry makes a tough nut for the enemy in the center, too.
As for the PFs, well, imagine the nerve it must have taken to be 30-50 yards from a fire spitting steel monster and then to RAISE UP, AIM, and FIRE a Panzerfaust. Nice to know that they are there, don't count on them.